Related papers: Slip Detection and Surface Prediction Through Bio-…
Robotic capacities in object manipulation are incomparable to those of humans. Besides years of learning, humans rely heavily on the richness of information from physical interaction with the environment. In particular, tactile sensing is…
Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist equipment and expertise. The DIGIT tactile sensor offers low-cost entry to…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
Tactile sensing typically involves active exploration of unknown surfaces and objects, making it especially effective at processing the characteristics of materials and textures. A key property extracted by human tactile perception is…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…
The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
We present a modified TacTip biomimetic optical tactile sensor design which demonstrates the ability to induce and detect incipient slip, as confirmed by recording the movement of markers on the sensor's external surface. Incipient slip is…
To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…
Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…
Humans display the remarkable ability to sense the world through tools and other held objects. For example, we are able to pinpoint impact locations on a held rod and tell apart different textures using a rigid probe. In this work, we…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and force responses, causing the robot to slip or get stuck. This…
Stable and robust robotic grasping is essential for current and future robot applications. In recent works, the use of large datasets and supervised learning has enhanced speed and precision in antipodal grasping. However, these methods…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…